Multi-Helicopter Search and Rescue Route Planning Based on Strategy Optimization Algorithm

Abstract

This paper attempts to develop an efficient route planning algorithm to guide the operations of the multi-helicopter search and rescue in emergency. Route planning model of multi-helicopter cooperative search and rescue activity was established first, based on preference ordering of search and rescue objectives, as well as behavioral model of rescue helicopter and on-board detector. Given the route planning model, a multi-helicopter search and rescue route planning general algorithm was developed. The operation mechanism of ant colony algorithm was improved by introducing cooperative modes and the pheromone updating mechanism into existing methods. Furthermore, two cooperative search and rescue modes were studied: one is Overall Cooperative Search and Rescue Mode (OCSARM), in which many ants search and rescue the same region all together; the other is Blocking Cooperative Search and Rescue Mode (BCSARM), which partitions the region into small blocks and appoints helicopter with corresponding performance capabilities. Simulated experiments were developed to test the operability of proposed multi-helicopter search and rescue route planning algorithm. The comparison with existing algorithm shows that the algorithm proposed in this paper reduces computational complexity and evidently enhances algorithm efficiency. Results also indicate that this algorithm not only has the capability of comparing efficiency of two search and rescue modes in different mission requirements but also helps select search and rescue modes before rescue operation.